Setup your sources.

list
Note that this is for installing the PR2 ROS debians and does not contain instructions for setting
up the real PR2. Setup your computer to accept software from packages.ros.org and Clearpath
Robotics. ROS Hydro ONLY supports Precise, Quantal, and Raring for debian packages.

Ubuntu 12.04 (Precise)

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" >
/etc/apt/sources.list.d/ros-latest.list'

Ubuntu 12.10 (Quantal)

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu quantal main" >
/etc/apt/sources.list.d/ros-latest.list'

Ubuntu 13.04 (Raring)

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu raring main" >

/etc/apt/sources.list.d/ros-latest.list'

Mirrors
You could also use a geographically closer mirror from the following page but you might want to
check how up-to-date it is: ROS/Installation/UbuntuMirrors

Get released packages earlier

After a new version of a package has been released it takes some time until it gets synced into
the public repositories referenced above. This is mostly to give it some soak time and check for
regressions.

If you don't want to wait for the sync but want to use the latest-and-greatest version of ROS
packages (even if that might sometime get you unstable packages) you can switch to a different
apt repository. You need to change the above entry to use the following URL instead:

http://packages.ros.org/rosshadowfixed/ubuntu

Set up your keys

wgethttps://raw.githubusercontent.com/ros/rosdistro/master/ros.keyO|
sudoaptkeyadd
Installation
First, make sure your Debian package index is up-to-date:

sudoaptgetupdate

There are many different libraries and tools in ROS. We provided four default configurations to
get you started. You can also install ROS packages individually.

NOTE: You may get a prompt about hddtemp when you do the install below: you can safely
answer no to the prompt if you are not installing on an actual PR2.

Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D

simulators, navigation and 2D/3D perception

o sudoaptgetinstallroshydrodesktopfull

or click here

Desktop Install: ROS, rqt, rviz, and robot-generic libraries

o sudoaptgetinstallroshydrodesktop

or click here

ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI
tools.

o sudoaptgetinstallroshydrorosbase

or click here

Individual Package: You can also install a specific ROS package (replace underscores
with dashes of the package name):

o sudoaptgetinstallroshydroPACKAGE

e.g.

sudoaptgetinstallroshydroslamgmapping

To find available packages, use:

aptcachesearchroshydro

Initialize rosdep
Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install
system dependencies for source you want to compile and is required to run some core
components in ROS.

sudorosdepinit
rosdepupdate

Environment setup
It's convenient if the ROS environment variables are automatically added to your bash session
every time a new shell is launched:

echo"source/opt/ros/hydro/setup.bash">>~/.bashrc
source~/.bashrc

If you have more than one ROS distribution installed, ~/.bashrc must only source
the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type:

source/opt/ros/hydro/setup.bash

Getting rosinstall
rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables
you to easily download many source trees for ROS packages with one command.

To install this tool on Ubuntu, run:

sudoaptgetinstallpythonrosinstall